Electromechanical surgical apparatus including wire routing clock spring

ABSTRACT

An electromechanical surgical system is disclosed including a hand-held surgical instrument, an end effector configured to perform at least one function, and a shaft assembly arranged for selectively interconnecting the end effector and the surgical instrument. The shaft assembly includes a linkage having a proximal housing and a distal housing at least partially received within the proximal housing. The distal housing is rotatable relative to the proximal housing and configured to selectively interconnect the end effector to the shaft assembly. The shaft assembly further includes a wire extending through the linkage having a central portion disposed within an annular groove defined between the proximal and distal housings. The central portion of the wire is annularly wound within the annular groove to define a coil. The coil is configured to at least one of radially expand and contract upon rotation of the distal housing relative to the proximal housing.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.15/810,479, filed Nov. 13, 2017, which is a continuation of U.S.application Ser. No. 14/535,379, filed Nov. 7, 2014, now U.S. Pat. No.9,814,450, which is a continuation of U.S. patent application Ser. No.13/648,682, filed Oct. 10, 2012, now U.S. Pat. No. 8,906,001. Thedisclosure of each of the above-identified applications is herebyincorporated by reference in its entirety.

BACKGROUND 1. Technical Field

The present disclosure relates to surgical apparatus, devices and/orsystems for performing endoscopic surgical procedures and methods of usethereof. More specifically, the present disclosure relates toelectromechanical, hand-held surgical apparatus, devices and/or systemsconfigured for use with removable disposable loading units and/or singleuse loading units for clamping, cutting and/or stapling tissue.

2. Background of Related Art

A number of surgical device manufacturers have developed product lineswith proprietary drive systems for operating and/or manipulatingelectromechanical surgical devices. In many instances theelectromechanical surgical devices include a reusable handle assembly,and a plurality of disposable or single use end effectors, commonlycalled single use loading units (SULU). An end effector is selectivelyconnected to the handle assembly prior to use and then disconnected fromthe handle assembly following use in order to be disposed of or in someinstances sterilized for re-use.

In some instances, end effectors having different operational propertiesand parameters may be attached to the same reusable handle assembly tofacilitate use of the reusable handle assembly in a large variety ofsurgical procedures. It is important, however, to match the outputproperties of the drive system of the reusable handle assembly to theoperational properties and parameters of the currently attached endeffector. Thus, there is a need for an identification system thatidentifies the end effector to the reusable handle assembly withoutimpeding the operational properties and parameters of the end effector.

SUMMARY

Further details and aspects of exemplary embodiments of the presentinvention are described in more detail below with reference to theappended Figures.

An electromechanical surgical system is disclosed including a hand-heldsurgical instrument, an end effector configured to perform at least onefunction, and a shaft assembly arranged for selectively interconnectingthe end effector and the surgical instrument. The shaft assemblyincludes a linkage having a proximal housing and a distal housing atleast partially received within the proximal housing. The distal housingis rotatable relative to the proximal housing and configured toselectively interconnect the end effector to the shaft assembly. Theshaft assembly further includes a wire extending through the linkage.The wire includes a central portion disposed within an annular groovedefined between the proximal and distal housings. The central portion ofthe wire is annularly wound within the annular groove to define a coil.The coil is configured to at least one of radially expand and contractupon rotation of the distal housing relative to the proximal housing.

In an aspect of the present disclosure, the proximal housing includes anouter housing and an inner housing and the inner housing is configuredfor reception within the outer housing.

In an aspect of the present disclosure, each of the inner and outerhousings includes an opening extending therethrough for the reception ofa proximal portion of the wire.

In an aspect of the present disclosure, the openings of the inner andouter housings are substantially aligned.

In an aspect of the present disclosure, the inner housing includes anannular lip and an outer wall and the annular groove extends between theannular lip and the outer wall.

In an aspect of the present disclosure, the inner and outer housingsdefine at least one chamber therebetween for the reception of at leastone gear therein.

In an aspect of the present disclosure, the distal housing includes anopening extending therethrough for the reception of a distal portion ofthe wire.

In an aspect of the present disclosure, the central portion of the coilis configured to radially expand when the distal housing is rotatedrelative to the proximal housing in a first direction and to radiallycontract when the distal housing is rotated relative to the proximalhousing in a second direction.

In an aspect of the present disclosure, the wire is disposed inelectrical communication with the surgical instrument and the endeffector and is configured to communicate information between thesurgical instrument and the end effector.

In an aspect of the present disclosure, the central portion of the coilof the wire is annularly wound within the annular groove in a singleplane.

A surgical system is disclosed including a hand-held surgicalinstrument, an end effector configured to perform at least one function,and a shaft assembly arranged for selectively interconnecting the endeffector and the surgical instrument. The shaft assembly includes alinkage defining a longitudinal axis and having a proximal housing and adistal housing at least partially received within the proximal housing.The distal housing is rotatable relative to the proximal housing andconfigured to selectively interconnect the end effector to the shaftassembly. The shaft assembly further includes a wire extending throughthe linkage. The wire includes a proximal portion extending through theproximal housing, a central portion disposed within an annular groovedefined between the proximal and distal housings, and a distal portionextending through the distal housing. The central portion of the wire isannularly wound within the annular groove to define a coil. The coil isconfigured to radially at least one of expand and contract upon rotationof the distal housing relative to the proximal housing. The proximal anddistal portions of the wire are substantially longitudinally fixedrelative to the proximal and distal housings.

In an aspect of the present disclosure, the distal housing is rotatablerelative to the proximal housing in a first direction between a firstconfiguration and at least a second configuration, and rotatablerelative to the proximal housing in a second direction between the firstconfiguration and at least a third configuration.

In an aspect of the present disclosure, the distal housing is rotatablerelative to the proximal housing between about 0° and at least about180° from the first configuration in the first direction to achieve thesecond configuration and between about 0° and at least about 180° fromthe first configuration in the second direction to achieve the thirdconfiguration.

In an aspect of the present disclosure, the end effector is rotatablyfixed to the distal housing and rotatable relative to the shaft assemblybetween about 0° and at least about 180° in either direction uponrotation of the distal housing relative to the proximal housing.

In an aspect of the present disclosure, the coil of the wire isconfigured to radially expand when the distal housing is rotated in thefirst direction relative to the proximal housing and radially contractwhen the distal housing is rotated in the second direction relative tothe proximal housing.

In an aspect of the present disclosure, the proximal portion of the wireis disposed in electrical communication with the surgical instrument andthe distal portion of the wire is disposed in electrical communicationwith the end effector.

In an aspect of the present disclosure, the wire is configured tocommunicate information between the end effector and the surgicalinstrument.

A wire routing assembly for use with a surgical system is disclosedincluding a linkage assembly for operatively interconnecting an endeffector to a surgical instrument. The linkage assembly includes aproximal housing and a distal housing at least partially received withinthe proximal housing and rotatable relative to the proximal housing. Thewire routing assembly further includes a wire extending through thelinkage assembly and having a central portion disposed within an annulargroove defined between the proximal and distal housings. The centralportion of the wire is annularly wound within the annular groove todefine a coil, the coil being configured to radially expand and contractupon rotation of the distal housing relative to the proximal housing.

In an aspect of the present disclosure, the coil of the wire isconfigured to radially expand when the distal housing is rotatedrelative to the proximal housing in a first direction and to radiallycontract when the distal housing is rotated relative to the proximalhousing in a second direction.

In an aspect of the present disclosure, the coil of the wire isannularly wound within the annular groove in a single plane.

In an aspect of the present disclosure, the wire is disposed inelectrical communication with the surgical instrument and the endeffector. The wire is configured to communicate information between thesurgical instrument and the end effector.

It is contemplated that any of the above disclosed aspects may becombined without departing from the scope of the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present disclosure are described herein withreference to the accompanying drawings, wherein:

FIG. 1 is a perspective view of an electromechanical surgical systemaccording to the present disclosure;

FIG. 2 is a perspective view of the area of detail of FIG. 1 ,illustrating a shaft assembly and an end effector of the surgical systemof FIG. 1 ;

FIG. 3 is a distal perspective view of the area of detail of FIG. 2 ,illustrating a linkage of the shaft assembly of FIG. 2 ;

FIG. 4 is a proximal perspective view of the area of detail of FIG. 2 ,illustrating a linkage of the shaft assembly of FIG. 2 ;

FIG. 4A is a perspective view of the end effector and the linkageassembly of the electromechanical surgical system of FIG. 1 ,illustrating the end effector detached form the distal housing assembly;

FIG. 5 is a perspective view of the linkage of FIGS. 3 and 4 ,illustrating a distal housing detached from a proximal housing of thelinkage;

FIG. 6 is a perspective view, with parts separated, of the proximalhousing of FIG. 5 ;

FIG. 7 is a perspective view, with parts separated, of the distalhousing of FIG. 5 ;

FIG. 8 is a side, perspective, cross-sectional view of the linkage ofFIGS. 3 and 4 , as taken along section line 8-8 of FIG. 4 ;

FIGS. 9-11 are cross-sectional views taken along section line 9-9 ofFIG. 4 , illustrating the distal housing and the proximal housing invarious rotational configurations; and

FIG. 12 is a schematic diagram of the electrical connection between anend effector and a surgical instrument of the electromechanical surgicalsystem of FIG. 1 .

DETAILED DESCRIPTION OF EMBODIMENTS

Embodiments of the presently disclosed electromechanical surgicalsystem, apparatus and/or device are described in detail with referenceto the drawings, in which like reference numerals designate identical orcorresponding elements in each of the several views. As used herein theterm “distal” refers to that portion of the electromechanical surgicalsystem, apparatus and/or device, or component thereof, that are fartherfrom the user, while the term “proximal” refers to that portion of theelectromechanical surgical system, apparatus and/or device, or componentthereof, that are closer to the user.

Referring initially to FIG. 1 , an electromechanical, hand-held, poweredsurgical system, in accordance with an embodiment of the presentdisclosure is shown and generally designated 10. Electromechanicalsurgical system 10 includes a surgical apparatus or device in the formof an electromechanical, hand-held, powered surgical instrument 100 thatis configured for selective attachment thereto of a plurality ofdifferent end effectors 400, via a shaft assembly 200. The end effector400 and the shaft assembly 200 are each configured for actuation andmanipulation by the electromechanical, hand-held, powered surgicalinstrument 100. In particular, surgical instrument 100 is configured forselective connection with shaft assembly 200, and, in turn, shaftassembly 200 is configured for selective connection with any one of aplurality of different end effectors 400.

Referring now to FIGS. 1 and 2 , surgical instrument 100 includes aninstrument housing 102 having a lower housing portion 104, anintermediate housing portion 106 extending from and/or supported onlower housing portion 104, and an upper housing portion 108 extendingfrom and/or supported on intermediate housing portion 106.

The shaft assembly 200 includes an elongate portion 202 configured forselective connection to upper housing portion 108 of instrument housing102, a flexible portion 204 extending from the elongate portion 202, anda linkage 500 extending from the flexible portion 204 and configured toselectively connect the shaft assembly 200 to a plurality of differentend effectors 400.

Reference may be made to International Application No.PCT/US2008/077249, filed Sep. 22, 2008 (Inter. Pub. No. WO 2009/039506)and U.S. patent application Ser. No. 12/622,827, filed on Nov. 20, 2009(Now, U.S. Patent Publication No. 2011-0121049), the entire content ofeach of which being hereby incorporated herein by reference, for adetailed description of the construction and operation of exemplaryelectromechanical, hand-held, powered surgical instrument 100.

Reference may also be made to U.S. Provisional Patent Application No.61/661,461, filed Jun. 19, 2012, entitled “APPARATUS FOR ENDOSCOPICPROCEDURES,” now U.S. Pat. No. 9,364,220; and U.S. Provisional PatentApplication No. 61/673,792, filed Jul. 20, 2012, entitled “APPARATUS FORENDOSCOPIC PROCEDURES,” now U.S. Pat. No. 9,402,604, the entire contentsof each of which being incorporated herein by reference, for a detaileddescription of the construction and operation of an exemplary shaftassembly 200 and end effector 400 for use with the electromechanical,hand-held, powered surgical instrument 100.

End effector 400 can be a variety of surgical end effectors, such as,for example, a linear surgical stapling end effector, as shown in FIG. 1. Such linear surgical stapling end effector includes a staplecartridge, anvil member, and drive member for driving staples out of thestaple cartridge and against the anvil member. Such an instrument isdisclosed in U.S. patent application Ser. No. 13/280,859 (now U.S. Pat.No. 8,657,177), Ser. No. 13/280,880 (now U.S. Pat. No. 9,016,539), andSer. No. 13/280,898 (now U.S. Pat. No. 8,899,462), the entiredisclosures of which are hereby incorporated by reference herein. Forexample, the drive member can be threadedly engaged with a threadedscrew, the threaded screw being driven by one or more gears of thelinkage 500, rotation being transmitted therethrough from the shaftassembly 200. Rotation of such threaded screw can be made to move thedrive member longitudinally through the staple cartridge to fire thestaples. Other types of end effectors are contemplated including, butnot limited to, electrosurgical end effectors that apply electricalenergy to tissue and/or ultrasonic end effectors that apply ultrasonicenergy to tissue.

Referring now to FIGS. 3-8 , linkage 500 includes a proximal housingassembly 502 and a distal housing assembly 504. Proximal housingassembly 502 includes an outer housing 506 and an inner housing 508.Outer housing 506 is configured to receive inner housing 508 such thatinner shelves or ledges 510 (FIG. 6 ) of outer housing 506 are receivedwithin recesses 512 (FIG. 6 ) of inner housing 508. In this manner innerhousing 508 is rotatably fixed relative to outer housing 506. Outerhousing 506 and inner housing 508 together define first, second andthird recesses or chambers 514 a-514 c (FIG. 8 ) for the reception ofdrive gears 516 a-516 c therein. For example, first chamber 514 areceives a first gear 516 a therein, second chamber 514 b receives asecond gear 516 b therein, and third chamber 514 c receives a third gear516 c therein. Each of gears 516 a-516 c is operatively associated withsurgical instrument 100 and configured for actuation and manipulation bysurgical instrument 100.

As seen in FIG. 6 , outer housing 506 includes a first opening 518extending therethrough and inner housing 508 includes a second opening520 extending therethrough. First and second openings 518 and 520 aresubstantially aligned when inner housing 510 is received within outerhousing 508 and are configured for the reception of a wire 600therethrough.

With continued reference to FIG. 6 , inner housing 508 includes acentral recess 522 located on a distal side thereof configured forreception of a fourth gear 516 d therein. Central recess 522 includes aradial opening 524 configured to allow for engagement between gear 516 dand gear 516 c. Inner housing 508 also includes an annular lip 526disposed about central recess 522 and defines an annular groove 528between annular lip 526 and an outer wall 530 of inner housing 508 forthe receipt of wire 600 therein and therearound.

Referring now to FIGS. 5, 7 and 8 , distal housing assembly 504 includesa flanged portion 532 at a distal end and a recessed portion 534extending proximally from the flanged portion 532. Recessed portion 534is configured for rotatable reception in inner housing 508 such that aproximal end 536 of recessed portion 534 abuts or is adjacent annularlip 526. Recessed portion 534 includes a central cut-out or recess 538configured to receive a portion of gear 516 d therein and a slot 540extending through central cut-out 538 and configured to receive a shaft542 of gear 516 a therein. Distal housing assembly 504 includes a gear516 e disposed in a radial channel 544 extending through recessedportion 534 and configured for engagement with a distal portion of gear516 d. When recessed portion 534 of distal housing assembly 504 isinserted into inner housing 508, annular groove 528 defines a cavitybetween distal housing assembly 504 and inner housing 508 for thereception of wire 600 therein and therearound. Distal housing assembly504 also includes a third opening 546 extending therethrough for thereception of wire 600.

Thus, the gears are provided to drive various functions of the endeffector 400. The gears 516 a through 516 e form two inputs: one thatdrives the threaded screw, and one that drives rotation of the endeffector with respect to the shaft assembly 200. Gear 516 c is a firinggear that drives idler gear 516 d, which drives an output gear 516 e.Gear 516 e is attached to a hexagonal drive that attaches to thethreaded screw. There is also a rotation drive gear 516 a that is keyedto part of the linkage housing 532 so that when gear 516 b is driven, itrotates housing 504. Other gearing arrangements are contemplated.

Referring now to FIG. 4A, distal housing assembly 504 includes a pair ofopenings 548 configured to receive a pair of tabs 402 of end effector400 when end effector 400 is attached thereto. Tabs 402 and openings 548inhibit rotation of end effector 400 relative to distal housing assembly504 such that end effector 400 and distal housing assembly 504 areconfigured to rotate together relative to proximal housing assembly 502and shaft assembly 200.

End effector 400 may also include a plug interface 404 configured toelectrically engage wire 600 (FIG. 4 ) when end effector 400 is attachedto distal housing assembly 504 and electrically communicate end effector400 with wire 600 and surgical instrument 100. Distal housing assembly504 may also include a plug interface 552 for electrical engagement withplug interface 404 of end effector 400 where wire 600 (FIG. 4 ) iselectrically connected to plug interface 552 instead of plug interface404.

Referring now to FIGS. 6, 8 and 12 , wire 600 includes a proximalportion 602, a central portion 604 and a distal portion 606. Centralportion 604 of wire 600 is disposed within annular groove 528 betweeninner housing 508 and distal housing assembly 504 and is annularly woundabout annular lip 526 in the fashion of a clock spring or coil. Forexample, central portion 604 of wire 600 may be wound radially withinannular groove 528 in a single plane such that each successive windingof wire 600 is disposed radially adjacent to an immediately priorwinding. Proximal portion 602 of wire 600 extends from central portion604 through the second opening 520 of inner housing 508 to electricallycommunicate with surgical instrument 100. Distal portion 606 of wire 600extends through the third opening 546 to electrically communicate withend effector 400. In this manner, end effector 400 is in electricalcommunication with surgical instrument 100 via wire 600. Proximal anddistal portions 602, 606 of wire 600 may be substantially longitudinallyfixed within the proximal and distal housings 502, 504, respectively.

Wire 600 is configured to transmit information from the end effector 400to the surgical instrument 100. For example, wire 600 may be anelectrical wire configured to transmit an identification signal from amemory chip 406 (FIG. 12 ) of end effector 400 to surgical instrument100, e.g. an E-prom signal, to identify the type of end effector 400 tosurgical instrument 100. The output properties of the drive system ofthe surgical instrument 100 may then be matched to the operationalproperties and parameters of the particular identified end effector 400.It is also contemplated that wire 600 may transmit a signal containingother kinds of information including, for example, information about thetarget tissue (e.g., tissue type, tissue vascularity, tissuetemperature, etc.) sensed by sensors 408 (FIG. 12 ) of the end effector400, a status of the operative state of the end effector 400, or othersimilar operational information. For example, an E-prom signal may betransmitted along wire 600 to surgical instrument 100 when the endeffector 400 has been at least partially fired, when the end effector400 has been at least partially clamped to target tissue, or othersimilar operational parameters.

During use of surgical instrument 100 and end effector 400, it may bedesirable to rotate end effector 400 about a longitudinal axis thereofin either a clockwise or a counter clockwise direction. In view thereof,wire 600 is capable of communicating information between surgicalinstrument 100 and end effector 400 irrespective of the rotationalorientation of end effector 400 relative to surgical instrument 100.

Referring initially to FIG. 9 , wire 600 is disposed in a firstconfiguration prior to rotation of distal housing assembly 504 relativeto proximal housing assembly 502 (i.e., rotation of end effector 400relative to shaft assembly 200 and/or surgical instrument 100). Proximalportion 602 of wire 600 is disposed a first radial distance “D1” fromlongitudinal axis A-A, and distal portion 606 of wire 600 is disposed asecond radial distance “D2” from longitudinal axis A-A and centralportion 604 is coiled about annular groove 528 between the first andsecond radial distances “D1” and “D2”.

Referring now to FIG. 10 , when end effector 400 is rotated relative toshaft assembly 200 and/or surgical instrument 100, in a clockwisedirection as depicted in FIG. 10 , causing distal housing assembly 504to be rotated in the direction “X”, third opening 546 of distal housingassembly 504 is rotated in the direction “X”. As third opening 546rotates in the direction “X”, a side of third opening 546 engages distalportion 606 of wire 600 and also rotates distal portion 606 in thedirection “X”. As distal portion 606 of wire 600 rotates in thedirection “X”, central portion or coil 604 of wire 600 is radiallycontracted or constricted to a second configuration, similar to windingup a clock or coil spring. In other words, wire 600 has been wound up.

It is contemplated that distal housing assembly 504 may be rotated inthe direction “X” between about a 0° rotation and at least about a 180°rotation relative to the first configuration. It is also contemplatedthat housing assembly 504 may be rotated in the direction “X” more thanabout a 180° rotation and, for example, may rotate through more thanabout one full 360° rotation relative to the first configuration.

Referring now to FIG. 11 , when end effector 400 is rotated relative toshaft assembly 200 and/or surgical instrument 100, in acounter-clockwise direction as depicted in FIG. 11 , causing distalhousing assembly 504 to be rotated in the direction “Y”, third opening546 of distal housing assembly 504 is rotated in the direction “Y”. Asthird opening 546 rotates in the direction “Y”, a side of third opening546 engages distal portion 606 of wire 600 and also rotates distalportion 606 in the direction “Y”. As distal portion 606 of wire 600rotates in the direction “Y”, central portion or coil 604 of wire 600 isradially expanded, similar to un-winding a clock spring. In other words,wire 600 has been un-wound.

It is contemplated that distal housing assembly 504 may be rotated inthe direction “Y” between about a 0° rotation and at least about a 180°rotation relative to the first configuration. It is also contemplatedthat housing assembly 504 may be rotated in the direction “Y” more thanabout a 180° rotation and, for example, may rotate through more thanabout one full 360° rotation relative to the first configuration.

In this manner, linkage 500 provides a wire routing that allows endeffector 400 to be rotated about axis A-A without wire 600 becomingtangled or without wire 600 inhibiting the rotation. It is contemplatedthat central portion or coil 604 of wire 600 may alternatively radiallyexpand when distal housing assembly is rotated in the direction “X” andradially contract when distal housing assembly is rotated in thedirection “Y” (Opposite direction “X”).

It is contemplated that proximal portion 602 of wire 600 may havesubstantially the same radial distance from longitudinal axis A-A ineach of the first, second and third configurations. Likewise, it iscontemplated that distal portion 606 of wire 600 may have substantiallythe same radial distance from longitudinal axis A-A in each of thefirst, second and third configurations.

Alternatively, it is contemplated that the radial distance of proximalportion 602 from longitudinal axis A-A in the second configuration maybe smaller than the radial distance of proximal portion 602 fromlongitudinal axis A-A in the first configuration, and that the radialdistance of proximal portion 602 from longitudinal axis A-A in the thirdconfiguration may be larger than the radial distance of proximal portion602 from longitudinal axis A-A in the first configuration. Likewise, itis contemplated that the radial distance of distal portion 606 fromlongitudinal axis A-A in the second configuration may be smaller thanthe radial distance of distal portion 606 from longitudinal axis A-A inthe first configuration, and that the radial distance of distal portion606 from longitudinal axis A-A in the third configuration may be largerthan the radial distance of distal portion 606 from longitudinal axisA-A in the first configuration.

It will be understood that various modifications may be made to theembodiments disclosed herein. Therefore, the above description shouldnot be construed as limiting, but merely as exemplifications ofpreferred embodiments. Those skilled in the art will envision othermodifications within the scope and spirit of the claims appendedthereto.

The invention claimed is:
 1. An electromechanical surgical system,comprising: a shaft assembly including an elongate portion and alinkage, the linkage including: a proximal housing assembly defining arecess therein; a distal housing assembly partially received within theproximal housing assembly and defining an annular groove therebetween,the distal housing assembly rotatable relative to the proximal housingassembly about the longitudinal axis; a gear disposed within the recessof the proximal housing assembly; and a wire disposed within the annulargroove defined between the proximal and distal housing assemblies. 2.The electromechanical surgical system according to claim 1, wherein theshaft assembly further includes a flexible portion extending distallyfrom the elongate portion, and the linkage extends distally from theflexible portion.
 3. The electromechanical surgical system according toclaim 1, further comprising an end effector selectively connectable tothe linkage of the shaft assembly, the end effector and the distalhousing assembly configured to rotate together relative to the proximalhousing assembly.
 4. The electromechanical surgical system according toclaim 3, further comprising a surgical instrument selectivelyconnectable to the elongate portion of the shaft assembly.
 5. Theelectromechanical surgical system according to claim 4, wherein the wireis in electrical communication with the end effector and the surgicalinstrument, the wire configured to communicate information between theend effector and the surgical instrument.
 6. The electromechanicalsurgical system according to claim 1, wherein the proximal housingassembly of the shaft assembly includes an outer housing and an innerhousing received within the outer housing, the inner housing rotatablyfixed relative to the outer housing.
 7. The electromechanical surgicalsystem according to claim 6, wherein the distal housing assemblyincludes a flanged portion and a recessed portion extending proximallyfrom the flanged portion, the recessed portion rotatably received withinthe inner housing of the proximal housing assembly.
 8. Theelectromechanical surgical system according to claim 1, wherein the gearis a rotation drive gear keyed to part of the distal housing assembly torotate the distal housing assembly.
 9. The electromechanical surgicalsystem according to claim 1, wherein the wire includes a proximalportion fixed within the proximal housing assembly, a distal portionfixed within the distal housing assembly, and a central portion woundradially around the longitudinal axis within the annular groove.
 10. Theelectromechanical surgical system according to claim 9, wherein rotationof the distal housing assembly in a first direction relative to theproximal housing assembly causes the distal portion of the wire torotate in the first direction such that the central portion of the wireradially contracts within the annular groove.
 11. The electromechanicalsurgical system according to claim 10, wherein rotation of the distalhousing assembly in a second direction relative to the proximal housingassembly causes the distal portion of the wire to rotate in the seconddirection such that the central portion of the wire radially expandswithin the annular groove.
 12. A linkage for operatively interconnectingan end effector to a surgical instrument, comprising: a proximal housingassembly defining a recess therein; a distal housing assembly partiallyreceived within the proximal housing assembly and defining an annulargroove therebetween, the distal housing assembly rotatable relative tothe proximal housing assembly about the longitudinal axis; a geardisposed within the recess of the proximal housing assembly; and a wiredisposed within the annular groove defined between the proximal anddistal housing assemblies.
 13. The linkage according to claim 12,wherein the proximal housing assembly of the shaft assembly includes anouter housing and an inner housing received within the outer housing,the inner housing rotatably fixed relative to the outer housing.
 14. Thelinkage according to claim 13, wherein the distal housing assemblyincludes a flanged portion and a recessed portion extending proximallyfrom the flanged portion, the recessed portion rotatably received withinthe inner housing of the proximal housing assembly.
 15. The linkageaccording to claim 12, wherein the gear is a rotation drive gear keyedto part of the distal housing assembly to rotate the distal housingassembly.
 16. The linkage according to claim 12, wherein the wireincludes a proximal portion fixed within the proximal housing assembly,a distal portion fixed within the distal housing assembly, and a centralportion wound radially around the longitudinal axis within the annulargroove.
 17. The linkage according to claim 16, wherein rotation of thedistal housing assembly in a first direction relative to the proximalhousing assembly causes the distal portion of the wire to rotate in thefirst direction such that the central portion of the wire radiallycontracts within the annular groove.
 18. The linkage according to claim17, wherein rotation of the distal housing assembly in a seconddirection relative to the proximal housing assembly causes the distalportion of the wire to rotate in the second direction such that thecentral portion of the wire radially expands within the annular groove.